Combine egg yolks and sugar in the bowl of an electric mixer fitted with paddle attachment. Beat at medium-high speed until very thick and pale yellow, 3 to 5 minutes.

Return milk to a simmer.Add half of the warm milk to egg-yolk mixture; whisk until blended. Return new mixture to saucepan with remaining milk. Cook over low heat, stirring constantly, until mixture is thick enough to coat the back of a wooden spoon, being careful to not let the milk get too hot and curdle.Prepare an ice-water bath. Remove saucepan from heat; immediately stir in cream. Pass mixture through a sieve set over a medium bowl. Place bowl in ice-water bath; chill.

When the custard mix is cold, freeze in ice-cream maker according to instructions. (If you put it in the ice cream maker too early, the frozen compartment of the ice cream maker will defrost and the ice cream won’t properly “freeze” and will be very soft.)